From 58365ea8a02e8adee1b56948085998107f9a80b3 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 26 九月 2023 20:46:10 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/NyShuttleThread.java | 266 +++++++++++++++++++++++++++++++++-------------------
1 files changed, 167 insertions(+), 99 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/NyShuttleThread.java b/src/main/java/com/zy/core/thread/NyShuttleThread.java
index b84f13c..f2602a8 100644
--- a/src/main/java/com/zy/core/thread/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/NyShuttleThread.java
@@ -67,10 +67,10 @@
case 1:
read();
break;
- // 鍐欏叆鏁版嵁
- case 2:
- write((NyShuttleHttpCommand) task.getData());
- break;
+// // 鍐欏叆鏁版嵁
+// case 2:
+// write((NyShuttleHttpCommand) task.getData());
+// break;
//涓嬪彂浠诲姟
case 3:
assignWork((ShuttleAssignCommand) task.getData());
@@ -95,7 +95,7 @@
//鍥涘悜绌挎杞︾┖闂层�佹湁浠诲姟銆佹爣璁颁负true銆佸瓨鍦ㄤ换鍔℃寚浠わ紝闇�瑕佹墽琛屼换鍔＄殑涓嬩竴鏉℃寚浠�
if (shuttleProtocol.getFree() == ShuttleStatusType.IDLE.id
&& shuttleProtocol.getTaskNo() != 0
- && shuttleProtocol.getPakMk()) {
+ && !shuttleProtocol.getPakMk()) {
//鎵ц涓嬩竴姝ユ寚浠�
executeWork(shuttleProtocol.getTaskNo().shortValue());
}
@@ -173,9 +173,9 @@
//闈炶嚜鍔ㄧ姸鎬佹椂闂磋鏃�
shuttleProtocol.setErrTime(jsonObject.getInteger("errTime"));
- //灏忚溅澶勪簬杩愯涓紝灏嗘爣璁扮疆涓簍rue
+ //灏忚溅澶勪簬杩愯涓紝灏嗘爣璁扮疆涓篺alse
if (shuttleProtocol.getFree() == 0) {
- shuttleProtocol.setPakMk(true);
+ shuttleProtocol.setPakMk(false);
}
//灏嗗洓鍚戠┛姊溅鐘舵�佷繚瀛樿嚦鏁版嵁搴�
@@ -275,7 +275,7 @@
}
- private boolean write(NyShuttleHttpCommand command){
+ private boolean write(NyShuttleHttpCommand command, ShuttleAssignCommand assignCommand) {
if (null == command) {
News.error("鍥涘悜绌挎杞﹀啓鍏ュ懡浠や负绌�");
return false;
@@ -308,10 +308,33 @@
throw new RuntimeException(ex);
}
}
+
+ //淇濆瓨鏁版嵁鍒版暟鎹簱鍋氭祦姘�
+ BasShuttleOptService shuttleOptService = SpringUtils.getBean(BasShuttleOptService.class);
+ BasShuttleOpt opt = null;
+ if (shuttleOptService != null) {
+ opt = new BasShuttleOpt(
+ assignCommand.getTaskNo().intValue(),
+ assignCommand.getShuttleNo().intValue(),
+ new Date(),
+ ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc,
+ assignCommand.getSourceLocNo(),
+ assignCommand.getLocNo(),
+ null,
+ null,
+ null,
+ JSON.toJSONString(command),
+ null,
+ JSON.toJSONString(shuttleProtocol)
+ );
+ opt.setSend(1);//宸蹭笅鍙�
+ opt.setResponse(JSON.toJSONString(result));//璇锋眰鍝嶅簲
+ shuttleOptService.insert(opt);
+ }
+
if (result == null) {
return false;//璇锋眰澶辫触
}
-
return true;
}
@@ -355,8 +378,12 @@
}
NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));
+
//鍙栧嚭鍛戒护
- NyShuttleHttpCommand command = commands.get(commandStep);//褰撳墠鍛戒护
+ NyShuttleHttpCommand command = null;
+ if (commandStep < commands.size()) {
+ command = commands.get(commandStep);//褰撳墠鍛戒护
+ }
if (commandStep != 0) {
//鍒ゆ柇涓婁竴鏉℃寚浠ゆ槸鍚﹀畬鎴�
NyShuttleHttpCommand lastCommand = commands.get(commandStep - 1);
@@ -369,8 +396,12 @@
lastCommand.setComplete(true);
//瑙ｉ攣閿佸畾璺緞锛屼笂涓�鏉¤矾寰勫拰褰撳墠璺緞
List<NavigateNode> nodes = lastCommand.getNodes();
- nodes.addAll(command.getNodes());
- navigateMapData.writeNavigateNodeToRedisMap(nodes, false);//瑙ｉ攣璺緞
+ if (command != null && command.getNodes() != null) {
+ nodes.addAll(command.getNodes());
+ }
+ if (nodes != null) {
+ navigateMapData.writeNavigateNodeToRedisMap(nodes, false);//瑙ｉ攣璺緞
+ }
}
}else {
lastCommand.setComplete(true);//鍏朵粬鍛戒护榛樿璁や负瀹屾垚
@@ -382,6 +413,23 @@
//涓婁竴鏉′换鍔℃湭瀹屾垚锛岀姝笅鍙戝懡浠�
return false;
}
+
+ //鍒ゆ柇鏄惁涓烘渶鍚庝竴鏉″懡浠や笖鍛戒护鎵ц瀹屾垚锛屾姏鍑虹瓑寰呯‘璁ょ姸鎬�
+ NyShuttleHttpCommand endCommand = commands.get(commands.size() - 1);
+ if (endCommand.getComplete()) {
+ //鍒犻櫎redis
+ redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());
+
+ if (!assignCommand.getCharge()) {
+ //瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
+ }else {
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
+ }
+ News.info("鍥涘悜绌挎杞︿换鍔℃墽琛屼笅鍙戝畬鎴愮瓑寰呮墽琛岀粨鏉燂紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(commands));
+
+ return false;//绂佹鍐嶄笅鍙戝懡浠�
+ }
}
List<NavigateNode> nextNodes = null;//涓嬩竴姝ュ懡浠よ璧拌矾寰�
@@ -391,7 +439,10 @@
}
if (shuttleProtocol.getFree() == ShuttleStatusType.BUSY.id) {
- return false;//灏忚溅鐘舵�佸繖锛岀姝㈡墽琛屽懡浠�
+ //鍋滄鍏呯數
+ if(!(command.getRequest().getBody().get("requestType").equals("stopCharge") && shuttleProtocol.getChargState() == 1)){
+ return false;//灏忚溅鐘舵�佸繖锛岀姝㈡墽琛屽懡浠�
+ }
}
// //妫�娴嬪皬杞︽槸鍚﹁杩涙彁鍗囨満锛屽闇�瑕佽繘鎻愬崌鏈哄垯璋冨害鎻愬崌鏈�
@@ -404,68 +455,74 @@
return false;
}
- //妫�娴嬭矾寰勬槸鍚﹀彲琛岃蛋
- if (!checkPath(command.getNodes(), nextNodes, redisCommand)) {
- return false;
+ if (command.getRequest().getBody().get("requestType").equals("move")) {
+ //妫�娴嬭矾寰勬槸鍚﹀彲琛岃蛋
+ if (!checkPath(command.getNodes(), nextNodes, redisCommand)) {
+ return false;
+ }
+
+ //閿佸畾璺緞锛岄攣瀹氬綋鍓嶈矾寰勫拰涓嬩竴姝ヨ矾寰�
+ List<NavigateNode> nodes = command.getNodes();
+ if (nextNodes != null) {
+ nodes.addAll(nextNodes);
+ }
+ if (nodes != null) {
+ navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ }
}
- //閿佸畾璺緞锛岄攣瀹氬綋鍓嶈矾寰勫拰涓嬩竴姝ヨ矾寰�
- List<NavigateNode> nodes = command.getNodes();
- nodes.addAll(nextNodes);
- navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
-
//鍙墽琛屽懡浠�
- if (!write(command)) {
+ if (!write(command, assignCommand)) {
News.error("鍥涘悜绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
return false;
}
News.info("鍥涘悜绌挎杞﹀懡浠や笅鍙戞垚鍔燂紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
//灏嗘爣璁扮疆涓篺alse(闃叉閲嶅彂)
- shuttleProtocol.setPakMk(false);
+ shuttleProtocol.setPakMk(true);
- //淇濆瓨鏁版嵁鍒版暟鎹簱鍋氭祦姘�
- BasShuttleOptService shuttleOptService = SpringUtils.getBean(BasShuttleOptService.class);
- if (shuttleOptService != null) {
- BasShuttleOpt opt = new BasShuttleOpt(
- assignCommand.getTaskNo().intValue(),
- assignCommand.getShuttleNo().intValue(),
- new Date(),
- ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc,
- assignCommand.getSourceLocNo(),
- assignCommand.getLocNo(),
- null,
- null,
- null,
- JSON.toJSONString(command),
- null,
- JSON.toJSONString(shuttleProtocol)
- );
- shuttleOptService.insert(opt);
+ String requestType = command.getRequest().getBody().get("requestType").toString();
+ if (requestType.equals("updateFloor")) {
+ //鏇存柊妤煎眰鍛戒护
+ shuttleProtocol.setPakMk(false);//鎭㈠鏍囪
}
- //鍒ゆ柇鏁版嵁鏄惁鎵ц瀹屾垚
- if (commandStep < commands.size() - 1) {
- //鏇存柊redis鏁版嵁
- //姝ュ簭澧炲姞
- commandStep++;
- redisCommand.setCommandStep(commandStep);
- //浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
- }else {
- //宸叉墽琛屽畬鎴�
+ commandStep++;
+ //鏇存柊redis鏁版嵁
+ redisCommand.setCommandStep(commandStep);
+ //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+ redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
- //鍒犻櫎redis
- redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());
-
- if (!assignCommand.getCharge()) {
- //瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
- }else {
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
- }
- News.info("鍥涘悜绌挎杞︿换鍔℃墽琛屼笅鍙戝畬鎴愮瓑寰呮墽琛岀粨鏉燂紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
- }
+// //鍒ゆ柇鏁版嵁鏄惁鎵ц瀹屾垚
+// if (commandStep < commands.size() - 1) {
+// commandStep++;
+// //鏇存柊redis鏁版嵁
+// redisCommand.setCommandStep(commandStep);
+// //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+// redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
+// }else {
+// //宸叉墽琛屽畬鎴�
+//
+// commandStep = commands.size();
+// //鏇存柊redis鏁版嵁
+// redisCommand.setCommandStep(commandStep);
+// //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+// redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
+//// //鏈�鍚庝竴娈靛懡浠や负绉诲姩鍛戒护锛屽垯鏆傜紦鍒犻櫎redis绛夊緟娓呴櫎璺緞鏃朵竴娆℃�у垹闄�
+//// //鏈�鍚庝竴娈靛懡浠や负涓嶆槸绉诲姩鍛戒护锛屽垯鍒犻櫎redis
+//// if (!command.getRequest().getBody().get("requestType").equals("move")) {
+//// //鍒犻櫎redis
+//// redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());
+//// }
+////
+//// if (!assignCommand.getCharge()) {
+//// //瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
+//// shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
+//// }else {
+//// shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
+//// }
+//// News.info("鍥涘悜绌挎杞︿换鍔℃墽琛屼笅鍙戝畬鎴愮瓑寰呮墽琛岀粨鏉燂紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
+// }
return true;
}
@@ -573,7 +630,9 @@
if (basLift == null) {
continue;
}
- if (basLift.getPoint().equals(shuttleProtocol.getPoint())) {
+ Integer liftX = basLift.getPoint$().getX();
+ Integer liftY = basLift.getPoint$().getY();
+ if (liftX.equals(shuttleProtocol.getPoint().getX()) && liftY.equals(shuttleProtocol.getPoint().getY())) {
//灏忚溅鍦ㄦ彁鍗囨満鍐�
//鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂�
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
@@ -588,6 +647,8 @@
//鎻愬崌鏈哄浜庣┖闂诧紝鏀捐
return true;
}
+ }else {
+ return true;//涓嶅湪鎻愬崌鏈哄唴锛屾斁琛�
}
}
return false;//榛樿涓嶆斁琛�
@@ -601,44 +662,51 @@
//妫�娴嬭矾寰勬槸鍚﹀彲琛岃蛋(妫�鏌ヨ矾寰勯攣瀹氱姸鎬侊紝妫�娴嬭矾寰勬槸鍚︽湁鍏朵粬灏忚溅)
//妫�娴嬪綋鍓嶈璧拌矾寰勶紝鍜屼笅涓�姝ヨ矾寰�
boolean checkPathIsAvailable = NavigateUtils.checkPathIsAvailable(currentNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
- boolean checkPathIsAvailable2 = NavigateUtils.checkPathIsAvailable(nextNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
- if (checkPathIsAvailable && checkPathIsAvailable2) {
- return true;//鍙璧�
+ if (nextNodes == null) {
+ if (checkPathIsAvailable) {
+ return true;//鍙璧�
+ }
+ return false;
+ }else {
+ boolean checkPathIsAvailable2 = NavigateUtils.checkPathIsAvailable(nextNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
+ if (checkPathIsAvailable && checkPathIsAvailable2) {
+ return true;//鍙璧�
+ }
}
- ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
- NavigateNode currentTarget = currentNodes.get(currentNodes.size() - 1);
- String currentLocNo = NavigatePositionConvert.nodeToLocNo(currentTarget);
- NavigateNode nextTarget = nextNodes.get(nextNodes.size() - 1);
- String nextLocNo = NavigatePositionConvert.nodeToLocNo(nextTarget);
- if (assignCommand.getLocNo().equals(currentLocNo) || assignCommand.getLocNo().equals(nextLocNo)) {
- //褰撳墠璺緞鏈�鍚庝竴涓妭鐐规槸鐩爣搴撲綅锛岃繘琛岃矾寰勬娴嬶紝濡傛灉涓嶅彲琛岃蛋锛岄噸鏂拌绠楄矾寰�
- //涓嶅彲琛岃蛋锛岄噸鏂拌绠楄矾寰�
- NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getShuttleNo().intValue(), shuttleProtocol.getTaskNo(), shuttleProtocol.getCurrentLocNo(), assignCommand.getLocNo());
- if (result == null) {
- return false;//璺緞璁＄畻澶辫触锛屼笉鍙璧�
- }
-
- List<NyShuttleHttpCommand> newCommands = result.getCommands();//鏂拌矾寰�
-
- //褰撳墠姝ュ簭
- int commandStep = redisCommand.getCommandStep();
- List<NyShuttleHttpCommand> commands = assignCommand.getCommands();
-
- commands.remove(commandStep);//绉婚櫎褰撳墠姝ュ簭鎸囦护
- if (assignCommand.getLocNo().equals(currentLocNo)) {
- //褰撳墠璺緞锛岄渶瑕佸啀澶氱Щ闄や笅涓�姝ユ寚浠�
- commands.remove(commandStep + 1);
- }
-
- //灏嗘柊璺緞娣诲姞杩涙寚浠ら泦鍚�
- commands.addAll(commandStep, newCommands);
- assignCommand.setCommands(commands);
- redisCommand.setAssignCommand(assignCommand);
- //浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
- return false;//褰撳墠涓嶅彲琛岃蛋锛岀瓑寰呬笅涓�娆℃墽琛岃蛋鏂拌矾寰�
- }
+// ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
+// NavigateNode currentTarget = currentNodes.get(currentNodes.size() - 1);
+// String currentLocNo = NavigatePositionConvert.nodeToLocNo(currentTarget);
+// NavigateNode nextTarget = nextNodes.get(nextNodes.size() - 1);
+// String nextLocNo = NavigatePositionConvert.nodeToLocNo(nextTarget);
+// if (assignCommand.getLocNo().equals(currentLocNo) || assignCommand.getLocNo().equals(nextLocNo)) {
+// //褰撳墠璺緞鏈�鍚庝竴涓妭鐐规槸鐩爣搴撲綅锛岃繘琛岃矾寰勬娴嬶紝濡傛灉涓嶅彲琛岃蛋锛岄噸鏂拌绠楄矾寰�
+// //涓嶅彲琛岃蛋锛岄噸鏂拌绠楄矾寰�
+// NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getShuttleNo().intValue(), shuttleProtocol.getTaskNo(), shuttleProtocol.getCurrentLocNo(), assignCommand.getLocNo());
+// if (result == null) {
+// return false;//璺緞璁＄畻澶辫触锛屼笉鍙璧�
+// }
+//
+// List<NyShuttleHttpCommand> newCommands = result.getCommands();//鏂拌矾寰�
+//
+// //褰撳墠姝ュ簭
+// int commandStep = redisCommand.getCommandStep();
+// List<NyShuttleHttpCommand> commands = assignCommand.getCommands();
+//
+// commands.remove(commandStep);//绉婚櫎褰撳墠姝ュ簭鎸囦护
+// if (assignCommand.getLocNo().equals(currentLocNo)) {
+// //褰撳墠璺緞锛岄渶瑕佸啀澶氱Щ闄や笅涓�姝ユ寚浠�
+// commands.remove(commandStep + 1);
+// }
+//
+// //灏嗘柊璺緞娣诲姞杩涙寚浠ら泦鍚�
+// commands.addAll(commandStep, newCommands);
+// assignCommand.setCommands(commands);
+// redisCommand.setAssignCommand(assignCommand);
+// //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+// redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
+// return false;//褰撳墠涓嶅彲琛岃蛋锛岀瓑寰呬笅涓�娆℃墽琛岃蛋鏂拌矾寰�
+// }
return false;//涓嶅彲琛岃蛋
}
--
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